A simple asymptotic observer is proposed for the estimation of the generalized velocities of a robotic manipulator. Singular perturbation theory is used in the stability analysis of the error dynamics. High gains are used in the cancellation of the nonlinearities characterizing the dynamic behavior of the robot. The accuracy of the proposed algorithm is illustrated in simulation runs and verified through some experimental tests.
Nicosia, S., Tornambe, A., Valigi, P. (1990). Experimental validation of asymptotic observers for robotic manipulators. In Proceedings of the 1990 IEEE International Conference on Robotics and Automation (pp.1423-1430). Los Alamitos, CA, United States : IEEE [10.1109/ROBOT.1990.126204].
Experimental validation of asymptotic observers for robotic manipulators
Nicosia, S.;Tornambe, A.;Valigi, P.
1990-01-01
Abstract
A simple asymptotic observer is proposed for the estimation of the generalized velocities of a robotic manipulator. Singular perturbation theory is used in the stability analysis of the error dynamics. High gains are used in the cancellation of the nonlinearities characterizing the dynamic behavior of the robot. The accuracy of the proposed algorithm is illustrated in simulation runs and verified through some experimental tests.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
